Abstract: Structural damage to a building is assessed based on measurement of point rotations using MEMS accelerometer sensors attached to structural columns of a building. The measured point rotations are wirelessly transmitted to a central unit which estimates residual drifts of the structural columns using a model of plastic deformation of the columns that incorporates empirically predetermined structural parameters of the columns such as a height of a column plastic bending point or a column curvature coefficient. The structural damage to the building is then estimated by determining a damage state from performance-based earthquake engineering performance thresholds that relate residual drift to damage. In some embodiments, multiple sensors are attached to each structural column of the building and measure corresponding point rotations at multiple points along the height of the column.